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<a href="triangle_8cc.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="fcl__decl_8h.html">collision/solvers/fcl/fcl_decl.h</a>&quot;</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="fcl__transform_8h.html">collision/solvers/fcl/fcl_transform.h</a>&quot;</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#include &lt;fcl/narrowphase/collision.h&gt;</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;fcl/narrowphase/collision_object.h&gt;</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;</div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="raytrace__utils_8h.html">collision/raytrace_utils.h</a>&quot;</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;fcl/geometry/bvh/BVH_model.h&gt;</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;math.h&gt;</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;</div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="triangle_8h.html">collision/narrowphase/triangle.h</a>&quot;</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacecollision.html">collision</a> {</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;</div><div class="line"><a name="l00014"></a><span class="lineno"><a class="line" href="classcollision_1_1_triangle.html#ac9d904f22f2a59ebfea06da723d91042">   14</a></span>&#160;<a class="code" href="classcollision_1_1_triangle.html">Triangle</a> *<a class="code" href="classcollision_1_1_triangle.html#ac9d904f22f2a59ebfea06da723d91042">Triangle::clone</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <span class="keyword">new</span> <a class="code" href="classcollision_1_1_triangle.html#a73961e0a11c4ff0bfb05df6d86278352">Triangle</a>(*<span class="keyword">this</span>); }</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;</div><div class="line"><a name="l00016"></a><span class="lineno"><a class="line" href="classcollision_1_1_triangle.html#a186ab321108e77c1eb0296ebe75bbfa7">   16</a></span>&#160;<a class="code" href="classcollision_1_1_triangle.html#a73961e0a11c4ff0bfb05df6d86278352">Triangle::Triangle</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_triangle.html">Triangle</a> &amp;copy)</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;    : <a class="code" href="classcollision_1_1_shape.html">Shape</a>(copy), v1_(copy.v1()), v2_(copy.v2()), v3_(copy.v3()) {</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  <a class="code" href="classcollision_1_1_shape.html#a3a397b619573e160d18954605a11f7bd">center_</a> = copy.<a class="code" href="classcollision_1_1_triangle.html#acc898f804fd9fdb0db42ea7d7ae0a3f2">center</a>();</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;  <a class="code" href="classcollision_1_1_shape.html#ab453849fed42ee9769df87210ca5262d">radius_</a> = copy.<a class="code" href="classcollision_1_1_triangle.html#ac9e5d550a26a7f4d9730616323def1c5">radius</a>();</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;  <a class="code" href="classcollision_1_1_triangle.html#a61e2e92ae795c6600bb436f102d9d2a8">segments_</a> = copy.<a class="code" href="classcollision_1_1_triangle.html#abf3e84824a18b12f178eaa637d4264bd">segments</a>();</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;}</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;</div><div class="line"><a name="l00023"></a><span class="lineno"><a class="line" href="classcollision_1_1_triangle.html#a302b97fe2004758c742cb741297a2f7e">   23</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1_triangle.html#a302b97fe2004758c742cb741297a2f7e">Triangle::rayTrace</a>(<span class="keyword">const</span> Eigen::Vector2d &amp;point1,</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;                        <span class="keyword">const</span> Eigen::Vector2d &amp;point2,</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;                        std::vector&lt;LineSegment&gt; &amp;intersect)<span class="keyword"> const </span>{</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  <a class="code" href="classcollision_1_1_line_segment.html">LineSegment</a> obj_segment(point1, point2);</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  std::vector&lt;Eigen::Vector2d&gt; inters1;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;  <span class="keywordtype">bool</span> res = <span class="keyword">false</span>;</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &amp;segm : <a class="code" href="classcollision_1_1_triangle.html#a61e2e92ae795c6600bb436f102d9d2a8">segments_</a>) {</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    res = segm.intersect(obj_segment, inters1) || res;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  }</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  <a class="code" href="namespacecollision_1_1raytrace.html#ad094906ddcf62d4d1dde8ef64fc5f938">collision::raytrace::rayTracePostprocess</a>(point1, point2, inters1, intersect,</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;                                           <span class="keyword">this</span>);</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  <span class="keywordflow">return</span> res;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;}</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;</div><div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="classcollision_1_1_triangle.html#a0bd9a731e00ab353de0fea5653049367">   40</a></span>&#160;<a class="code" href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3">ShapeType</a> <a class="code" href="classcollision_1_1_triangle.html#a0bd9a731e00ab353de0fea5653049367">Triangle::type</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> type_; }</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;</div><div class="line"><a name="l00042"></a><span class="lineno"><a class="line" href="classcollision_1_1_triangle.html#ad8a5d2fd47ff87ff930a87fa0b66e34d">   42</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classcollision_1_1_triangle.html#ad8a5d2fd47ff87ff930a87fa0b66e34d">Triangle::print</a>(std::ostringstream &amp;stream)<span class="keyword"> const </span>{</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  stream &lt;&lt; <span class="stringliteral">&quot;Triangle: \nVertices:&quot;</span></div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;         &lt;&lt; <span class="stringliteral">&quot;(&quot;</span> &lt;&lt; v1_(0) &lt;&lt; <span class="stringliteral">&quot;|&quot;</span> &lt;&lt; v1_(1) &lt;&lt; <span class="stringliteral">&quot;), &quot;</span></div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;         &lt;&lt; <span class="stringliteral">&quot;(&quot;</span> &lt;&lt; v2_(0) &lt;&lt; <span class="stringliteral">&quot;|&quot;</span> &lt;&lt; v2_(1) &lt;&lt; <span class="stringliteral">&quot;), &quot;</span></div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;         &lt;&lt; <span class="stringliteral">&quot;(&quot;</span> &lt;&lt; v3_(0) &lt;&lt; <span class="stringliteral">&quot;|&quot;</span> &lt;&lt; v3_(1) &lt;&lt; <span class="stringliteral">&quot;), &quot;</span></div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;         &lt;&lt; <span class="stringliteral">&quot;\ncenter: &quot;</span></div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;         &lt;&lt; <span class="stringliteral">&quot;(&quot;</span> &lt;&lt; <a class="code" href="classcollision_1_1_shape.html#a690571543f14979499df6fbada671f1f">center_x</a>() &lt;&lt; <span class="stringliteral">&quot;|&quot;</span> &lt;&lt; <a class="code" href="classcollision_1_1_shape.html#aabac3270d60bb5affed693af36fd39d8">center_y</a>() &lt;&lt; <span class="stringliteral">&quot;), &quot;</span> &lt;&lt; std::endl;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;}</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<a class="code" href="classfcl_1_1_collision_geometry.html">fcl::CollisionGeometry&lt;FCL_PRECISION&gt;</a> *</div><div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="classcollision_1_1_triangle.html#af57b0d102f9b09a1cfbd4739acac6bc5">   52</a></span>&#160;<a class="code" href="classcollision_1_1_triangle.html#af57b0d102f9b09a1cfbd4739acac6bc5">Triangle::createFCLCollisionGeometry</a>(<span class="keywordtype">void</span>)<span class="keyword"> const </span>{</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  fcl::BVHModel&lt;fcl::AABB&lt;FCL_PRECISION&gt;&gt; *model =</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;      <span class="keyword">new</span> fcl::BVHModel&lt;fcl::AABB&lt;FCL_PRECISION&gt;&gt;();</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  model-&gt;beginModel(1, 3);</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  Eigen::Vector2d v2d = <a class="code" href="classcollision_1_1_triangle.html#abe62d4e477deffc338ab28b3397470ca">v1</a>();</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  fcl::Vector3&lt;FCL_PRECISION&gt; <a class="code" href="classcollision_1_1_triangle.html#abe62d4e477deffc338ab28b3397470ca">v1</a>(v2d[0], v2d[1], 0);</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  v2d = <a class="code" href="classcollision_1_1_triangle.html#aee78e4c8bdba8570d9ecb4332f5503a3">v2</a>();</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  fcl::Vector3&lt;FCL_PRECISION&gt; <a class="code" href="classcollision_1_1_triangle.html#aee78e4c8bdba8570d9ecb4332f5503a3">v2</a>(v2d[0], v2d[1], 0);</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  v2d = <a class="code" href="classcollision_1_1_triangle.html#a088473df87a58c26f64dbad3a1e509ec">v3</a>();</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  fcl::Vector3&lt;FCL_PRECISION&gt; <a class="code" href="classcollision_1_1_triangle.html#a088473df87a58c26f64dbad3a1e509ec">v3</a>(v2d[0], v2d[1], 0);</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  model-&gt;addTriangle(<a class="code" href="classcollision_1_1_triangle.html#abe62d4e477deffc338ab28b3397470ca">v1</a>, <a class="code" href="classcollision_1_1_triangle.html#aee78e4c8bdba8570d9ecb4332f5503a3">v2</a>, <a class="code" href="classcollision_1_1_triangle.html#a088473df87a58c26f64dbad3a1e509ec">v3</a>);</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  model-&gt;endModel();</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  <span class="keywordflow">return</span> model;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;}</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;</div><div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="classcollision_1_1_triangle.html#a44550763f1e64283ca604c6e03d5223b">   70</a></span>&#160;<a class="code" href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt;FCL_PRECISION&gt;</a> *<a class="code" href="classcollision_1_1_triangle.html#a44550763f1e64283ca604c6e03d5223b">Triangle::createFCLCollisionObject</a>(</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;<a class="code" href="classfcl_1_1_collision_geometry.html">fcl::CollisionGeometry&lt;FCL_PRECISION&gt;</a>&gt; &amp;col_geom)<span class="keyword"></span></div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;<span class="keyword">    const </span>{</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">new</span> <a class="code" href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt;FCL_PRECISION&gt;</a>(col_geom);</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;}</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;</div><div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="classcollision_1_1_triangle.html#abe62d4e477deffc338ab28b3397470ca">   77</a></span>&#160;Eigen::Vector2d <a class="code" href="classcollision_1_1_triangle.html#abe62d4e477deffc338ab28b3397470ca">Triangle::v1</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> v1_; }</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;</div><div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="classcollision_1_1_triangle.html#aee78e4c8bdba8570d9ecb4332f5503a3">   79</a></span>&#160;Eigen::Vector2d <a class="code" href="classcollision_1_1_triangle.html#aee78e4c8bdba8570d9ecb4332f5503a3">Triangle::v2</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> v2_; }</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;</div><div class="line"><a name="l00081"></a><span class="lineno"><a class="line" href="classcollision_1_1_triangle.html#a088473df87a58c26f64dbad3a1e509ec">   81</a></span>&#160;Eigen::Vector2d <a class="code" href="classcollision_1_1_triangle.html#a088473df87a58c26f64dbad3a1e509ec">Triangle::v3</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> v3_; }</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;</div><div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="classcollision_1_1_triangle.html#acc898f804fd9fdb0db42ea7d7ae0a3f2">   83</a></span>&#160;Eigen::Vector2d <a class="code" href="classcollision_1_1_triangle.html#acc898f804fd9fdb0db42ea7d7ae0a3f2">Triangle::center</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classcollision_1_1_shape.html#a3a397b619573e160d18954605a11f7bd">center_</a>; }</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;</div><div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="classcollision_1_1_triangle.html#adea5f7dfb4e39ff82ed3fa44d07fc8e8">   85</a></span>&#160;Eigen::Vector2d <a class="code" href="classcollision_1_1_triangle.html#adea5f7dfb4e39ff82ed3fa44d07fc8e8">Triangle::incenter</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> incenter_; }</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;</div><div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="classcollision_1_1_triangle.html#a81910422b52e69304c135c3c0b219816">   87</a></span>&#160;<span class="keywordtype">double</span> <a class="code" href="classcollision_1_1_triangle.html#a81910422b52e69304c135c3c0b219816">Triangle::incircle_radius</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> incircle_radius_; }</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;</div><div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="classcollision_1_1_triangle.html#a8f44b72862ff850176a1e0fa2b912bcc">   89</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classcollision_1_1_triangle.html#a8f44b72862ff850176a1e0fa2b912bcc">Triangle::set_v1</a>(<span class="keyword">const</span> Eigen::Vector2d &amp;_v1) {</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  v1_ = _v1;</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <a class="code" href="classcollision_1_1_collision_object_ex.html#ab080033cf96284d10d0a7950bf2fd595">invalidateCollisionEntityCache</a>();</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;}</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;</div><div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="classcollision_1_1_triangle.html#a90748b85680786a2482433f91a55f11c">   94</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classcollision_1_1_triangle.html#a90748b85680786a2482433f91a55f11c">Triangle::set_v2</a>(<span class="keyword">const</span> Eigen::Vector2d &amp;_v2) {</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  v2_ = _v2;</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  <a class="code" href="classcollision_1_1_collision_object_ex.html#ab080033cf96284d10d0a7950bf2fd595">invalidateCollisionEntityCache</a>();</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;}</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;</div><div class="line"><a name="l00099"></a><span class="lineno"><a class="line" href="classcollision_1_1_triangle.html#a4c866497f3b8efd14e06d2943cc30346">   99</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classcollision_1_1_triangle.html#a4c866497f3b8efd14e06d2943cc30346">Triangle::set_v3</a>(<span class="keyword">const</span> Eigen::Vector2d &amp;_v3) {</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  v3_ = _v3;</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  <a class="code" href="classcollision_1_1_collision_object_ex.html#ab080033cf96284d10d0a7950bf2fd595">invalidateCollisionEntityCache</a>();</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;}</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;Eigen::Vector2d Triangle::compute_center() {</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  <span class="keywordtype">double</span> x = (v1_(0) + v2_(0) + v3_(0)) / 3.0;</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  <span class="keywordtype">double</span> y = (v1_(1) + v2_(1) + v3_(1)) / 3.0;</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  <span class="keywordflow">return</span> Eigen::Vector2d(x, y);</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;}</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;<span class="keywordtype">void</span> Triangle::compute_incircle_radius_and_center() {</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  <span class="comment">// length of triangle sides</span></div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  <span class="keywordtype">double</span> a = (v2_ - v1_).norm();</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  <span class="keywordtype">double</span> b = (v3_ - v2_).norm();</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  <span class="keywordtype">double</span> c = (v3_ - v1_).norm();</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  <span class="comment">// half of perimeter</span></div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  <span class="keywordtype">double</span> p = 0.5 * (a + b + c);</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  <span class="comment">// using Heron&#39;s Formula</span></div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  <span class="keywordtype">double</span> area = std::sqrt(p * (p - a) * (p - b) * (p - c));</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  <span class="comment">// incenter</span></div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  incenter_ = (b * v1_ + c * v2_ + a * v3_) / (2.0 * p);</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  <span class="comment">// inradius</span></div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  incircle_radius_ = area / p;</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;}</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;<span class="preprocessor">#if ENABLE_SERIALIZER</span></div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacecollision_1_1serialize.html#aea63e6d672588912102de4dbfc13ba19">serialize</a> {</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;ICollisionObjectExport *exportObject(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_triangle.html">collision::Triangle</a> &amp;);</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;}</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;serialize::ICollisionObjectExport *Triangle::exportThis(<span class="keywordtype">void</span>)<span class="keyword"> const </span>{</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  <span class="keywordflow">return</span> serialize::exportObject(*<span class="keyword">this</span>);</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;}</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;} <span class="comment">// namespace collision</span></div><div class="ttc" id="classcollision_1_1_triangle_html_abf3e84824a18b12f178eaa637d4264bd"><div class="ttname"><a href="classcollision_1_1_triangle.html#abf3e84824a18b12f178eaa637d4264bd">collision::Triangle::segments</a></div><div class="ttdeci">std::vector&lt; LineSegment &gt; segments(void) const</div><div class="ttdef"><b>Definition:</b> <a href="triangle_8h_source.html#l00069">triangle.h:69</a></div></div>
<div class="ttc" id="classcollision_1_1_triangle_html_aee78e4c8bdba8570d9ecb4332f5503a3"><div class="ttname"><a href="classcollision_1_1_triangle.html#aee78e4c8bdba8570d9ecb4332f5503a3">collision::Triangle::v2</a></div><div class="ttdeci">Eigen::Vector2d v2() const</div><div class="ttdef"><b>Definition:</b> <a href="triangle_8cc_source.html#l00079">triangle.cc:79</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_html_ab453849fed42ee9769df87210ca5262d"><div class="ttname"><a href="classcollision_1_1_shape.html#ab453849fed42ee9769df87210ca5262d">collision::Shape::radius_</a></div><div class="ttdeci">double radius_</div><div class="ttdef"><b>Definition:</b> <a href="shape_8h_source.html#l00072">shape.h:72</a></div></div>
<div class="ttc" id="classcollision_1_1_triangle_html_a61e2e92ae795c6600bb436f102d9d2a8"><div class="ttname"><a href="classcollision_1_1_triangle.html#a61e2e92ae795c6600bb436f102d9d2a8">collision::Triangle::segments_</a></div><div class="ttdeci">std::vector&lt; LineSegment &gt; segments_</div><div class="ttdef"><b>Definition:</b> <a href="triangle_8h_source.html#l00078">triangle.h:78</a></div></div>
<div class="ttc" id="classcollision_1_1_triangle_html_a81910422b52e69304c135c3c0b219816"><div class="ttname"><a href="classcollision_1_1_triangle.html#a81910422b52e69304c135c3c0b219816">collision::Triangle::incircle_radius</a></div><div class="ttdeci">double incircle_radius() const</div><div class="ttdef"><b>Definition:</b> <a href="triangle_8cc_source.html#l00087">triangle.cc:87</a></div></div>
<div class="ttc" id="classcollision_1_1_triangle_html"><div class="ttname"><a href="classcollision_1_1_triangle.html">collision::Triangle</a></div><div class="ttdoc">Triangle.</div><div class="ttdef"><b>Definition:</b> <a href="triangle_8h_source.html#l00017">triangle.h:17</a></div></div>
<div class="ttc" id="classcollision_1_1_triangle_html_ac9d904f22f2a59ebfea06da723d91042"><div class="ttname"><a href="classcollision_1_1_triangle.html#ac9d904f22f2a59ebfea06da723d91042">collision::Triangle::clone</a></div><div class="ttdeci">Triangle * clone() const</div><div class="ttdef"><b>Definition:</b> <a href="triangle_8cc_source.html#l00014">triangle.cc:14</a></div></div>
<div class="ttc" id="classfcl_1_1_collision_object_html"><div class="ttname"><a href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt; FCL_PRECISION &gt;</a></div></div>
<div class="ttc" id="classcollision_1_1_triangle_html_ac9e5d550a26a7f4d9730616323def1c5"><div class="ttname"><a href="classcollision_1_1_triangle.html#ac9e5d550a26a7f4d9730616323def1c5">collision::Triangle::radius</a></div><div class="ttdeci">double radius() const</div><div class="ttdef"><b>Definition:</b> <a href="triangle_8h_source.html#l00056">triangle.h:56</a></div></div>
<div class="ttc" id="fcl__transform_8h_html"><div class="ttname"><a href="fcl__transform_8h.html">fcl_transform.h</a></div></div>
<div class="ttc" id="classfcl_1_1_collision_geometry_html"><div class="ttname"><a href="classfcl_1_1_collision_geometry.html">fcl::CollisionGeometry</a></div><div class="ttdef"><b>Definition:</b> <a href="i__fcl__collision__object_8h_source.html#l00010">i_fcl_collision_object.h:10</a></div></div>
<div class="ttc" id="namespacecollision_1_1raytrace_html_ad094906ddcf62d4d1dde8ef64fc5f938"><div class="ttname"><a href="namespacecollision_1_1raytrace.html#ad094906ddcf62d4d1dde8ef64fc5f938">collision::raytrace::rayTracePostprocess</a></div><div class="ttdeci">bool rayTracePostprocess(const Eigen::Vector2d &amp;point1, const Eigen::Vector2d &amp;point2, std::vector&lt; Eigen::Vector2d &gt; inters1, std::vector&lt; LineSegment &gt; &amp;intersect, const collision::CollisionObject *obj)</div><div class="ttdef"><b>Definition:</b> <a href="raytrace__utils_8cc_source.html#l00112">raytrace_utils.cc:112</a></div></div>
<div class="ttc" id="classcollision_1_1_triangle_html_abe62d4e477deffc338ab28b3397470ca"><div class="ttname"><a href="classcollision_1_1_triangle.html#abe62d4e477deffc338ab28b3397470ca">collision::Triangle::v1</a></div><div class="ttdeci">Eigen::Vector2d v1() const</div><div class="ttdef"><b>Definition:</b> <a href="triangle_8cc_source.html#l00077">triangle.cc:77</a></div></div>
<div class="ttc" id="classcollision_1_1_triangle_html_a088473df87a58c26f64dbad3a1e509ec"><div class="ttname"><a href="classcollision_1_1_triangle.html#a088473df87a58c26f64dbad3a1e509ec">collision::Triangle::v3</a></div><div class="ttdeci">Eigen::Vector2d v3() const</div><div class="ttdef"><b>Definition:</b> <a href="triangle_8cc_source.html#l00081">triangle.cc:81</a></div></div>
<div class="ttc" id="classcollision_1_1_collision_object_ex_html_ab080033cf96284d10d0a7950bf2fd595"><div class="ttname"><a href="classcollision_1_1_collision_object_ex.html#ab080033cf96284d10d0a7950bf2fd595">collision::CollisionObjectEx::invalidateCollisionEntityCache</a></div><div class="ttdeci">void invalidateCollisionEntityCache(void)</div><div class="ttdef"><b>Definition:</b> <a href="collision__object__ex_8cc_source.html#l00043">collision_object_ex.cc:43</a></div></div>
<div class="ttc" id="namespacecollision_html"><div class="ttname"><a href="namespacecollision.html">collision</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__checker_8h_source.html#l00020">collision_checker.h:20</a></div></div>
<div class="ttc" id="classcollision_1_1_triangle_html_a90748b85680786a2482433f91a55f11c"><div class="ttname"><a href="classcollision_1_1_triangle.html#a90748b85680786a2482433f91a55f11c">collision::Triangle::set_v2</a></div><div class="ttdeci">void set_v2(const Eigen::Vector2d &amp;_v2)</div><div class="ttdef"><b>Definition:</b> <a href="triangle_8cc_source.html#l00094">triangle.cc:94</a></div></div>
<div class="ttc" id="classcollision_1_1_triangle_html_a44550763f1e64283ca604c6e03d5223b"><div class="ttname"><a href="classcollision_1_1_triangle.html#a44550763f1e64283ca604c6e03d5223b">collision::Triangle::createFCLCollisionObject</a></div><div class="ttdeci">fcl::CollisionObject&lt; FCL_PRECISION &gt; * createFCLCollisionObject(const std::shared_ptr&lt; fcl::CollisionGeometry&lt; FCL_PRECISION &gt;&gt; &amp;) const override</div><div class="ttdef"><b>Definition:</b> <a href="triangle_8cc_source.html#l00070">triangle.cc:70</a></div></div>
<div class="ttc" id="classcollision_1_1_triangle_html_af57b0d102f9b09a1cfbd4739acac6bc5"><div class="ttname"><a href="classcollision_1_1_triangle.html#af57b0d102f9b09a1cfbd4739acac6bc5">collision::Triangle::createFCLCollisionGeometry</a></div><div class="ttdeci">fcl::CollisionGeometry&lt; FCL_PRECISION &gt; * createFCLCollisionGeometry(void) const override</div><div class="ttdef"><b>Definition:</b> <a href="triangle_8cc_source.html#l00052">triangle.cc:52</a></div></div>
<div class="ttc" id="triangle_8h_html"><div class="ttname"><a href="triangle_8h.html">triangle.h</a></div></div>
<div class="ttc" id="fcl__decl_8h_html"><div class="ttname"><a href="fcl__decl_8h.html">fcl_decl.h</a></div></div>
<div class="ttc" id="classcollision_1_1_triangle_html_a73961e0a11c4ff0bfb05df6d86278352"><div class="ttname"><a href="classcollision_1_1_triangle.html#a73961e0a11c4ff0bfb05df6d86278352">collision::Triangle::Triangle</a></div><div class="ttdeci">EIGEN_MAKE_ALIGNED_OPERATOR_NEW Triangle(const Eigen::Vector2d &amp;_v1=Eigen::Vector2d(0, 0), const Eigen::Vector2d &amp;_v2=Eigen::Vector2d(0, 0), const Eigen::Vector2d &amp;_v3=Eigen::Vector2d(0, 0))</div><div class="ttdef"><b>Definition:</b> <a href="triangle_8h_source.html#l00022">triangle.h:22</a></div></div>
<div class="ttc" id="raytrace__utils_8h_html"><div class="ttname"><a href="raytrace__utils_8h.html">raytrace_utils.h</a></div></div>
<div class="ttc" id="classcollision_1_1_triangle_html_ad8a5d2fd47ff87ff930a87fa0b66e34d"><div class="ttname"><a href="classcollision_1_1_triangle.html#ad8a5d2fd47ff87ff930a87fa0b66e34d">collision::Triangle::print</a></div><div class="ttdeci">void print(std::ostringstream &amp;stream) const</div><div class="ttdoc">Print all parameters of the shape.</div><div class="ttdef"><b>Definition:</b> <a href="triangle_8cc_source.html#l00042">triangle.cc:42</a></div></div>
<div class="ttc" id="namespacecollision_html_ad1b9e0627f58ff6e988d3d1f3b3537a3"><div class="ttname"><a href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3">collision::ShapeType</a></div><div class="ttdeci">ShapeType</div><div class="ttdef"><b>Definition:</b> <a href="shape_8h_source.html#l00012">shape.h:12</a></div></div>
<div class="ttc" id="classcollision_1_1_triangle_html_a8f44b72862ff850176a1e0fa2b912bcc"><div class="ttname"><a href="classcollision_1_1_triangle.html#a8f44b72862ff850176a1e0fa2b912bcc">collision::Triangle::set_v1</a></div><div class="ttdeci">void set_v1(const Eigen::Vector2d &amp;_v1)</div><div class="ttdef"><b>Definition:</b> <a href="triangle_8cc_source.html#l00089">triangle.cc:89</a></div></div>
<div class="ttc" id="classcollision_1_1_triangle_html_acc898f804fd9fdb0db42ea7d7ae0a3f2"><div class="ttname"><a href="classcollision_1_1_triangle.html#acc898f804fd9fdb0db42ea7d7ae0a3f2">collision::Triangle::center</a></div><div class="ttdeci">Eigen::Vector2d center() const</div><div class="ttdef"><b>Definition:</b> <a href="triangle_8cc_source.html#l00083">triangle.cc:83</a></div></div>
<div class="ttc" id="classcollision_1_1_line_segment_html"><div class="ttname"><a href="classcollision_1_1_line_segment.html">collision::LineSegment</a></div><div class="ttdef"><b>Definition:</b> <a href="line__segment_8h_source.html#l00019">line_segment.h:19</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_html"><div class="ttname"><a href="classcollision_1_1_shape.html">collision::Shape</a></div><div class="ttdoc">Base prototype for the shape of an obstacle.</div><div class="ttdef"><b>Definition:</b> <a href="shape_8h_source.html#l00024">shape.h:24</a></div></div>
<div class="ttc" id="classcollision_1_1_triangle_html_a4c866497f3b8efd14e06d2943cc30346"><div class="ttname"><a href="classcollision_1_1_triangle.html#a4c866497f3b8efd14e06d2943cc30346">collision::Triangle::set_v3</a></div><div class="ttdeci">void set_v3(const Eigen::Vector2d &amp;_v3)</div><div class="ttdef"><b>Definition:</b> <a href="triangle_8cc_source.html#l00099">triangle.cc:99</a></div></div>
<div class="ttc" id="namespacecollision_1_1serialize_html_aea63e6d672588912102de4dbfc13ba19"><div class="ttname"><a href="namespacecollision_1_1serialize.html#aea63e6d672588912102de4dbfc13ba19">collision::serialize::serialize</a></div><div class="ttdeci">int serialize(const test::BroadphaseFailureCCObj &amp;bf_object, std::ostream &amp;output_stream, const char *format=SERIALIZER_DEFAULT_FORMAT)</div></div>
<div class="ttc" id="classcollision_1_1_triangle_html_a0bd9a731e00ab353de0fea5653049367"><div class="ttname"><a href="classcollision_1_1_triangle.html#a0bd9a731e00ab353de0fea5653049367">collision::Triangle::type</a></div><div class="ttdeci">ShapeType type() const</div><div class="ttdoc">Get shape type.</div><div class="ttdef"><b>Definition:</b> <a href="triangle_8cc_source.html#l00040">triangle.cc:40</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_html_a690571543f14979499df6fbada671f1f"><div class="ttname"><a href="classcollision_1_1_shape.html#a690571543f14979499df6fbada671f1f">collision::Shape::center_x</a></div><div class="ttdeci">double center_x() const</div><div class="ttdef"><b>Definition:</b> <a href="shape_8cc_source.html#l00018">shape.cc:18</a></div></div>
<div class="ttc" id="classcollision_1_1_triangle_html_adea5f7dfb4e39ff82ed3fa44d07fc8e8"><div class="ttname"><a href="classcollision_1_1_triangle.html#adea5f7dfb4e39ff82ed3fa44d07fc8e8">collision::Triangle::incenter</a></div><div class="ttdeci">Eigen::Vector2d incenter() const</div><div class="ttdef"><b>Definition:</b> <a href="triangle_8cc_source.html#l00085">triangle.cc:85</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_html_aabac3270d60bb5affed693af36fd39d8"><div class="ttname"><a href="classcollision_1_1_shape.html#aabac3270d60bb5affed693af36fd39d8">collision::Shape::center_y</a></div><div class="ttdeci">double center_y() const</div><div class="ttdef"><b>Definition:</b> <a href="shape_8cc_source.html#l00020">shape.cc:20</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_html_a3a397b619573e160d18954605a11f7bd"><div class="ttname"><a href="classcollision_1_1_shape.html#a3a397b619573e160d18954605a11f7bd">collision::Shape::center_</a></div><div class="ttdeci">Eigen::Vector2d center_</div><div class="ttdef"><b>Definition:</b> <a href="shape_8h_source.html#l00071">shape.h:71</a></div></div>
<div class="ttc" id="classcollision_1_1_triangle_html_a302b97fe2004758c742cb741297a2f7e"><div class="ttname"><a href="classcollision_1_1_triangle.html#a302b97fe2004758c742cb741297a2f7e">collision::Triangle::rayTrace</a></div><div class="ttdeci">bool rayTrace(const Eigen::Vector2d &amp;point1, const Eigen::Vector2d &amp;point2, std::vector&lt; LineSegment &gt; &amp;intersect) const override</div><div class="ttdef"><b>Definition:</b> <a href="triangle_8cc_source.html#l00023">triangle.cc:23</a></div></div>
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